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A quick look at the source code for bag_to_pcd shows that it wants to use TF. The quick solution is to record tf in addition to the point cloud with:

rosbag record /camera/rgb/points /tf

It looks like the tf frame is hard coded to "base_link", however there should probably be an option to set the frame. You might consider ticketing this as a future improvement.

A quick look at the source code for bag_to_pcd shows that it wants to use TF. The quick solution is to record tf in addition to the point cloud with:

rosbag record /camera/rgb/points /tf

It looks like the tf frame is hard coded to "base_link", however there should probably be an option to set the frame. You might consider ticketing this as a future improvement.

Update: Ok, so then you are lacking a base_link. You can create a base_link to openni transform by running the following (when you are collecting the bag file!):

rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link openni_camera 100

Alternatively, you could edit the source to bag_to_pcd.cpp to use one of your existing links.